fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-28 07:20:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

MulticopterPositionControl: add horizontal margin for saturation cases

Browse Source
This commit is contained in:
Matthias Grob
2021-09-07 14:24:25 +02:00
parent 06a91ec752
commit 58ea97a699
7 changed files with 54 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/MulticopterPositionControl.cpp
+1
View File
@@ -152,6 +152,7 @@ int MulticopterPositionControl::parameters_update(bool force)
Vector3f(_param_mpc_xy_vel_p_acc.get(), _param_mpc_xy_vel_p_acc.get(), _param_mpc_z_vel_p_acc.get()),
Vector3f(_param_mpc_xy_vel_i_acc.get(), _param_mpc_xy_vel_i_acc.get(), _param_mpc_z_vel_i_acc.get()),
Vector3f(_param_mpc_xy_vel_d_acc.get(), _param_mpc_xy_vel_d_acc.get(), _param_mpc_z_vel_d_acc.get()));
_control.setHorizontalThrustMargin(_param_mpc_thr_xy_marg.get());
// Check that the design parameters are inside the absolute maximum constraints
if (_param_mpc_xy_cruise.get() > _param_mpc_xy_vel_max.get()) {